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Add serve_bread HumanEgo checkpoint (inference latest.pt + full latest_full.pt) with migrated config.json (object_centric + camera_frame + max_ict)

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Files changed (4) hide show
  1. serve_bread/config.json +138 -0
  2. serve_bread/dataset_stats.json +14 -0
  3. serve_bread/latest.pt +3 -0
  4. serve_bread/latest_full.pt +3 -0
serve_bread/config.json ADDED
@@ -0,0 +1,138 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ {
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+ "out_dir": "./runs/serve_bread/Baselines/01_HumanEgo",
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+ "MPS_PATHS_TRAIN": [
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+ "./data/serve_bread/mps_serve_bread_001_vrs",
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+ "./data/serve_bread/mps_serve_bread_002_vrs",
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+ "./data/serve_bread/mps_serve_bread_003_vrs",
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+ "./data/serve_bread/mps_serve_bread_004_vrs",
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+ "./data/serve_bread/mps_serve_bread_005_vrs",
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+ "./data/serve_bread/mps_serve_bread_006_vrs",
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+ "./data/serve_bread/mps_serve_bread_007_vrs",
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+ "./data/serve_bread/mps_serve_bread_008_vrs",
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+ "./data/serve_bread/mps_serve_bread_009_vrs",
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+ "./data/serve_bread/mps_serve_bread_010_vrs",
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+ "./data/serve_bread/mps_serve_bread_011_vrs",
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+ "./data/serve_bread/mps_serve_bread_012_vrs",
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+ "./data/serve_bread/mps_serve_bread_013_vrs",
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+ "./data/serve_bread/mps_serve_bread_014_vrs",
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+ "./data/serve_bread/mps_serve_bread_015_vrs",
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+ "./data/serve_bread/mps_serve_bread_016_vrs",
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+ "./data/serve_bread/mps_serve_bread_017_vrs",
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+ "./data/serve_bread/mps_serve_bread_018_vrs",
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+ "./data/serve_bread/mps_serve_bread_019_vrs",
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+ "./data/serve_bread/mps_serve_bread_020_vrs",
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+ "./data/serve_bread/mps_serve_bread_021_vrs",
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+ "./data/serve_bread/mps_serve_bread_022_vrs",
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+ "./data/serve_bread/mps_serve_bread_023_vrs",
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+ "./data/serve_bread/mps_serve_bread_024_vrs",
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+ "./data/serve_bread/mps_serve_bread_025_vrs",
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+ "./data/serve_bread/mps_serve_bread_026_vrs",
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+ "./data/serve_bread/mps_serve_bread_027_vrs",
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+ "./data/serve_bread/mps_serve_bread_028_vrs",
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+ "./data/serve_bread/mps_serve_bread_029_vrs",
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+ "./data/serve_bread/mps_serve_bread_030_vrs",
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+ "./data/serve_bread/mps_serve_bread_031_vrs",
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+ "./data/serve_bread/mps_serve_bread_032_vrs",
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+ "./data/serve_bread/mps_serve_bread_033_vrs",
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+ "./data/serve_bread/mps_serve_bread_034_vrs",
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+ "./data/serve_bread/mps_serve_bread_035_vrs",
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+ "./data/serve_bread/mps_serve_bread_036_vrs",
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+ "./data/serve_bread/mps_serve_bread_037_vrs",
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+ "./data/serve_bread/mps_serve_bread_038_vrs",
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+ "./data/serve_bread/mps_serve_bread_039_vrs",
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+ "./data/serve_bread/mps_serve_bread_040_vrs",
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+ "./data/serve_bread/mps_serve_bread_041_vrs",
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+ "./data/serve_bread/mps_serve_bread_042_vrs",
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+ "./data/serve_bread/mps_serve_bread_043_vrs",
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+ "./data/serve_bread/mps_serve_bread_044_vrs",
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+ "./data/serve_bread/mps_serve_bread_045_vrs",
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+ "./data/serve_bread/mps_serve_bread_046_vrs",
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+ "./data/serve_bread/mps_serve_bread_047_vrs",
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+ "./data/serve_bread/mps_serve_bread_048_vrs",
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+ "./data/serve_bread/mps_serve_bread_049_vrs",
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+ "./data/serve_bread/mps_serve_bread_050_vrs",
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+ "./data/serve_bread/mps_serve_bread_051_vrs",
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+ "./data/serve_bread/mps_serve_bread_052_vrs",
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+ "./data/serve_bread/mps_serve_bread_053_vrs",
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+ "./data/serve_bread/mps_serve_bread_054_vrs",
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+ "./data/serve_bread/mps_serve_bread_055_vrs",
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+ "./data/serve_bread/mps_serve_bread_056_vrs",
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+ "./data/serve_bread/mps_serve_bread_057_vrs",
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+ "./data/serve_bread/mps_serve_bread_058_vrs",
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+ "./data/serve_bread/mps_serve_bread_059_vrs",
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+ "./data/serve_bread/mps_serve_bread_060_vrs"
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+ ],
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+ "MPS_PATHS_EVAL": [
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+ "./data/serve_bread/mps_serve_bread_000_vrs"
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+ ],
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+ "data_num": 100,
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+ "task": "serve_bread",
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+ "img_name": "rgb_WoArm_WArmObjKpts.png",
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+ "centric_mode": "object_centric",
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+ "frame_mode": "camera_frame",
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+ "action_mode": "absolute",
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+ "use_pcd_features": false,
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+ "use_aux_obj_dynamics": false,
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+ "use_aux_visual_foresight": false,
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+ "use_aux_temporal_contrastive": false,
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+ "use_region_attn": true,
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+ "use_ot_cfm": false,
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+ "enable_augmentation": true,
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+ "enable_aug_img": true,
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+ "enable_aug_rrc": true,
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+ "enable_aug_target_jittering": true,
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+ "enable_aug_cutout": true,
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+ "enable_aug_temporal_stride": false,
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+ "enable_aug_interpolation": true,
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+ "use_amp": true,
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+ "use_lr_schedule": true,
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+ "warmup_steps": 200,
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+ "min_lr_ratio": 0.05,
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+ "image_size": [
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+ 240,
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+ 320
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+ ],
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+ "pred_horizon": 50,
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+ "single_hand": true,
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+ "single_hand_side": "right",
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+ "max_ict": 8,
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+ "batch_size": 32,
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+ "epochs": 400,
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+ "lr": 0.0001,
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+ "weight_decay": 0.01,
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+ "num_workers": 8,
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+ "grad_clip": 1.0,
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+ "use_ema": true,
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+ "ema_decay": 0.999,
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+ "w_flow": 1.0,
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+ "w_pos": 5.0,
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+ "w_rot": 1.0,
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+ "w_g": 10.0,
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+ "w_done": 0.2,
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+ "w_foresight": 20.0,
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+ "w_contrastive": 0.1,
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+ "use_pre_norm": true,
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+ "use_ctx_norm": true,
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+ "use_done_in_flow": false,
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+ "use_legacy_image_loading": true,
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+ "use_legacy_rng": true,
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+ "use_state_noise": false,
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+ "state_pos_noise_std": 0.001,
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+ "state_rot_noise_deg": 1.0,
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+ "state_grasp_noise_std": 0.0,
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+ "num_inference_steps": 20,
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+ "hand_tracking_method": "aria_mps",
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+ "model_horizon_weighting": "uniform",
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+ "model_horizon_beta": 0.0,
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+ "patch_size": 16,
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+ "vision_embed_dim": 384,
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+ "num_decoder_layers": 6,
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+ "num_heads": 8,
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+ "mlp_ratio": 4.0,
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+ "dropout": 0.05,
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+ "eval_every": 1,
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+ "vis_eval_every": 100,
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+ "make_video": true,
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+ "device": "cuda",
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+ "seed": 7
138
+ }
serve_bread/dataset_stats.json ADDED
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+ {
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+ "pos": {
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+ "mean": [
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+ 0.05616205185651779,
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+ -0.011201439425349236,
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+ 0.6174575090408325
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+ ],
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+ "std": [
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+ 0.1598508358001709,
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+ 0.1118927076458931,
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+ 0.13916686177253723
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+ ]
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+ }
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+ }
serve_bread/latest.pt ADDED
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:7a90fee7dad1feb2a27c8ee6580f9811f42cdcc3836c77eafee17ab27be01385
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+ size 60736310
serve_bread/latest_full.pt ADDED
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:5d2dbb39bfc32cfb0d49b33cf925dbce637266671cb7aca48067b03f1576e6a7
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+ size 182254111